Remove PolygonIterator and use implementation from grid_map_utils

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
autowarefoundation · Jun 14, 2022 · 2efc874 · 2efc874
1 parent 448652f
commit 2efc874
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Showing 6 changed files with 7 additions and 535 deletions.
diff --git a/planning/apparent_safe_velocity_limiter/CMakeLists.txt b/planning/apparent_safe_velocity_limiter/CMakeLists.txt
@@ -31,7 +31,6 @@ if(BUILD_TESTING)
   ament_add_gtest(test_${PROJECT_NAME}
     test/test_collision_distance.cpp
     test/test_occupancy_grid_utils.cpp
-    test/test_polygon_iterator.cpp
   )
   target_link_libraries(test_${PROJECT_NAME}
     apparent_safe_velocity_limiter_node

diff --git a/...ent_safe_velocity_limiter/include/apparent_safe_velocity_limiter/occupancy_grid_utils.hpp b/...ent_safe_velocity_limiter/include/apparent_safe_velocity_limiter/occupancy_grid_utils.hpp
@@ -16,26 +16,15 @@
 #define APPARENT_SAFE_VELOCITY_LIMITER__OCCUPANCY_GRID_UTILS_HPP_
 
 #include "apparent_safe_velocity_limiter/collision_distance.hpp"
-#include "grid_map_core/Polygon.hpp"
 #include "grid_map_core/TypeDefs.hpp"
-#include "grid_map_core/iterators/GridMapIterator.hpp"
 
 #include <grid_map_core/GridMap.hpp>
-#include <grid_map_core/iterators/LineIterator.hpp>
-#include <grid_map_core/iterators/PolygonIterator.hpp>
-#include <grid_map_cv/GridMapCvConverter.hpp>
-#include <grid_map_ros/GridMapRosConverter.hpp>
 #include <opencv2/core/types.hpp>
 #include <opencv2/imgproc.hpp>
 #include <opencv2/opencv.hpp>
 
-#include <nav_msgs/msg/detail/occupancy_grid__struct.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 
-#include <boost/geometry.hpp>
-
-#include <opencv2/imgproc/types_c.h>
-
 namespace apparent_safe_velocity_limiter
 {
 

diff --git a/...pparent_safe_velocity_limiter/include/apparent_safe_velocity_limiter/polygon_iterator.hpp b/...pparent_safe_velocity_limiter/include/apparent_safe_velocity_limiter/polygon_iterator.hpp
diff --git a/planning/apparent_safe_velocity_limiter/package.xml b/planning/apparent_safe_velocity_limiter/package.xml
@@ -16,6 +16,7 @@
   <depend>eigen</depend>
   <depend>grid_map_msgs</depend>
   <depend>grid_map_ros</depend>
+  <depend>grid_map_utils</depend>
   <depend>libboost-dev</depend>
   <depend>nav_msgs</depend>
   <depend>pcl_ros</depend>

diff --git a/planning/apparent_safe_velocity_limiter/src/occupancy_grid_utils.cpp b/planning/apparent_safe_velocity_limiter/src/occupancy_grid_utils.cpp
@@ -13,7 +13,11 @@
 // limitations under the License.
 
 #include <apparent_safe_velocity_limiter/occupancy_grid_utils.hpp>
-#include <apparent_safe_velocity_limiter/polygon_iterator.hpp>
+#include <grid_map_core/Polygon.hpp>
+#include <grid_map_core/iterators/GridMapIterator.hpp>
+#include <grid_map_cv/GridMapCvConverter.hpp>
+#include <grid_map_ros/GridMapRosConverter.hpp>
+#include <grid_map_utils/polygon_iterator.hpp>
 
 namespace apparent_safe_velocity_limiter
 {
@@ -37,8 +41,7 @@ void maskPolygons(
   in_masks.reserve(polygon_in_masks.size());
   for (const auto & poly : polygon_in_masks) in_masks.push_back(convert(poly));
   grid_map::Position position;
-  for (apparent_safe_velocity_limiter::PolygonIterator iterator(
-         grid_map, convert(polygon_out_mask));
+  for (grid_map_utils::PolygonIterator iterator(grid_map, convert(polygon_out_mask));
        !iterator.isPastEnd(); ++iterator) {
     grid_map.getPosition(*iterator, position);
     if (std::find_if(in_masks.begin(), in_masks.end(), [&](const auto & mask) {